An ADB system control method for target prediction and compensation based on relative displacement

Abstract

The present invention discloses a control method for an ADB system based on relative displacement for target prediction and compensation, comprising the following steps: acquiring data of a target vehicle; predicting the relative position at the next unit system clock based on the relative displacement between the target vehicle and the host vehicle within a unit system clock; calculating the predicted moving area of the target vehicle within a unit system clock according to the predicted position of the target vehicle at the next unit system clock; adjusting the angle compensation of the anti-glare area of the host vehicle for the target vehicle according to the predicted moving area of the target vehicle within a unit system clock; when the target vehicle drives out of the lighting range of the host vehicle, the ADB system of the host vehicle will perform a gradual brightening operation on the corresponding extinguished lights. The present invention provides a correction parameter for calculating the predicted position of the target vehicle at the next clock by obtaining the difference between the predicted position of the target vehicle at the current moment and the actual position of the target vehicle at the current moment, thereby improving the accuracy of the target vehicle position prediction.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle ADB system control, and particularly relates to an ADB system control method for target prediction and compensation based on relative displacement. Background Art

[0002] When driving at night, there are mainly two factors that are likely to cause glare to the driver: when there is an oncoming vehicle, the high beam shines directly; when driving in the same direction, the reflection of the rearview mirror. Severe glare will make the driver unable to see the road ahead clearly, posing a great hidden danger for night driving.

[0003] Based on this, the ADB (Adaptive Driving Beam) system can automatically select to turn off the lights in the area that causes glare to the driver by detecting the driving conditions ahead, which can reduce the frequency of traffic accidents at night to a certain extent. When actually using the ADB system, the accuracy and real-time performance of its light control are the key parts to achieve this function.

[0004] Currently, most ADB systems only rely on the software control algorithm of the designed system to improve the accuracy and real-time performance of the recognition area, which has certain limitations.

[0005] Therefore, in order to further improve the accuracy and real-time performance of the ADB system, some compensation measures for the recognition area need to be added on the basis of the ADB system software control algorithm. Summary of the Invention

[0006] The purpose of the present invention is to provide an ADB system control method for target prediction and compensation based on relative displacement to solve the problems raised in the above background art. The ADB system control method for target prediction and compensation based on relative displacement provided by the present invention has the characteristics of improving the accuracy of controlling the on / off of the partition LEDs and achieving anti-glare for the driver of the target vehicle.

[0007] To achieve the above purpose, the present invention provides the following technical solution: an ADB system control method for target prediction and compensation based on relative displacement, including the following steps:

[0008] S1. Obtain the data of the target vehicle, including the target vehicle ID and the relative displacement between the target vehicle and the host vehicle within the unit system clock;

[0009] S2. Predict the relative position at the next unit system clock based on the relative displacement between the target vehicle and the host vehicle within the unit system clock in step S1;

[0010] S3. Calculate the predicted moving area of the target vehicle within the unit system clock based on the predicted position of the target vehicle at the next unit system clock in step S2;

[0011] S4. Combine the real-time vehicle condition of the host vehicle, and adjust the angle compensation of the anti-glare area of the host vehicle for the target vehicle according to the predicted moving area of the target vehicle within the unit system clock in step S3.

[0012] S5. When the target vehicle drives out of the lighting range of the host vehicle, the ADB system of the host vehicle will perform a gradual brightening operation on the corresponding extinguished lights.

[0013] In the present invention, further, in step S1, the target vehicle ID is used to distinguish different target vehicles and uniquely identify each target vehicle.

[0014] In the present invention, further, in step S1, the ID coding rule of the target vehicle is as follows: the coding range is from 0 to 255, the ID is superimposed as the number of target vehicles increases but not cleared. When the target vehicle drives out of the lighting range of the host vehicle, the target vehicle ID becomes invalid, but the count is not cleared. The ID of the next target vehicle is superimposed on this basis. After exceeding 255, the ID of the next target vehicle starts counting from 0.

[0015] In the present invention, further, in step S2, the prediction method for the relative position at the next unit system clock includes the following steps:

[0016] S21. Calculate the change speed of the relative distance of the target vehicle to the host vehicle according to the relative displacement between the target vehicle and the host vehicle within the unit system clock.

[0017] S22. Calculate the predicted position of the target vehicle at the next clock according to the change speed of the relative distance of the target vehicle to the host vehicle at the current clock and the difference between the prediction of the target vehicle position at the current clock and the actual position of the target vehicle at the current clock.

[0018] In the present invention, further, in step S21, assume that the position information of the target vehicle is updated every The time interval at the th moment is represented as , where represents a positive integer;

[0019] Calculate the change speed of the relative distance of the target vehicle to the host vehicle at the

[0020] th moment with the formula:

[0021] where represents the actual distance of the target vehicle relative to the host vehicle at the th moment, and represents the actual distance of the target vehicle relative to the host vehicle at the th moment.

[0022] In the present invention, further, in step S22, calculate the predicted position of the target vehicle at the next unit system clock The formula for is:

[0023] ;

[0024] Wherein, is the difference between the predicted position of the target vehicle at time and the actual position of the target vehicle at time , .

[0025] In the present invention, further, in step S3, the formula for calculating the predicted moving area of the target vehicle within a unit system clock is:

[0026] .

[0027] In the present invention, further, in step S3, the predicted moving area of the target vehicle within a unit system clock is: the predicted moving area of the target vehicle relative to the host vehicle from the current clock to the next clock.

[0028] In the present invention, further, in step S4, according to the distance interval of the target vehicle relative to the host vehicle, there are three kinds of angle compensation values set.

[0029] In the present invention, further, in step S5, when the target vehicle drives out of the lighting range of the host vehicle, the lights corresponding to the ADB system of the host vehicle remain off for 1 s, and then brighten by 5% every 50 ms until the brightness returns to 100%; during the gradual brightening process, continuously detect whether there are other target vehicles in this area. If there are other target vehicles, immediately turn off the lights in this area. If there are no other target vehicles, continue to gradually brighten.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. By assigning ID numbers to target vehicles, the present invention can more effectively manage multiple targets, achieve precise control of the targets, and avoid misjudgment caused by accidental glare due to cross - driving or entering and leaving the field of view of target vehicles, resulting in target confusion.

[0032] 2. The ID numbers of the present invention can be used to record the attributes of each target for data processing. By associating the ID with the target vehicle type, size, and priority level, etc., the status of each target can be updated more efficiently during target prediction.

[0033] 3. The present invention can optimize the control strategy, that is, different priorities are assigned according to the ID of the target. When multiple targets overlap in the field of view, the ID can distinguish the primary and secondary contradictions of the targets and give priority to processing the vehicle approaching rapidly.

[0034] 4. By obtaining the difference between the predicted position of the target vehicle at the current moment and the actual position of the target vehicle at the current moment, the present invention provides a correction parameter for calculating the predicted position of the target vehicle at the next clock, improving the accuracy of the target vehicle position prediction.

[0035] 5. The present invention predicts the area where the target vehicle moves from the current moment to the next moment relative to the host vehicle, and performs angle compensation on the light zones that need to be extinguished by the host vehicle's ADB system in the moving area. Moreover, the angle compensation of the ADB system zones is configurable, that is, the angle compensation value can be adjusted according to the zones of the ADB system of different vehicle models, which has flexibility.

[0036] 6. By dividing three intervals of the relative distance between the target vehicle and the host vehicle, the present invention performs angle compensation on the LED zones of the ADB system, avoiding the influence brought by the real-time change of the distance. While reducing the complexity of the ADB system, it better realizes the anti-glare function.

[0037] 7. When the target vehicle drives out of the range of the host vehicle's light, the lights corresponding to the extinguished lights of the host vehicle's ADB system will perform a gradual brightening operation, which can maintain the stability of the ADB system and prevent the sudden restoration of the lights from causing accidental glare to the subsequent target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the method flow of the present invention.

[0039] Figure 2 It is a schematic diagram of the relative distance between the target vehicle and the host vehicle at different moments when driving in opposite directions according to the present invention.

[0040] Figure 3 It is a schematic diagram of the target vehicle and the host vehicle driving in opposite directions according to the present invention.

[0041] Figure 4 It is a schematic diagram of the target vehicle and the host vehicle driving in the same direction according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] Embodiment 1

[0044] Please refer to Figures 1-4 , the present invention provides the following technical solutions: A control method for an ADB system based on relative displacement for target prediction and compensation, comprising the following steps:

[0045] S1. Collect the information of the road ahead through the in-vehicle radar sensor of the vehicle itself, continuously observe the vehicle ahead and identify the target vehicle therefrom, assign an ID number to the target vehicle, and obtain the relative displacement between the target vehicle and the vehicle itself within the unit system clock;

[0046] S2. Predict the relative position at the next unit system clock based on the relative displacement between the target vehicle and the vehicle itself within the unit system clock in step S1;

[0047] S21. Calculate the change speed of the relative distance of the target vehicle with respect to the vehicle itself based on the relative displacement between the target vehicle and the vehicle itself within the unit system clock in step S1 , since the unit system clock is the time interval for DBC to send data, assume that the position information of the target vehicle is updated every time, and the time interval at the moment is represented as , where represents a positive integer, generally taking = 10ms; The formula for the change speed of the relative distance of the target vehicle with respect to the vehicle itself at the

[0048] moment is:

[0049] Among them, represents the actual distance of the target vehicle relative to the vehicle itself at the moment, and represents the actual distance of the target vehicle relative to the vehicle itself at the moment;

[0050] S22. Calculate the predicted position of the target vehicle at the next clock based on the change speed of the relative distance of the target vehicle with respect to the vehicle itself at the current clock and the difference between the predicted position and the actual position of the target vehicle at the current clock;

[0051] Calculate the predicted position of the target vehicle at the next unit system clock The formula is:

[0052] ;

[0053] Among them, is the predicted position of the target vehicle at the and the actual position of the target vehicle at a moment the difference , ;

[0054] S3. According to the predicted position of the target vehicle at the next unit system clock in step S2, calculate the predicted moving area of the target vehicle within the unit system clock, that is, the predicted moving area of the target vehicle from the current clock to the next clock relative to the vehicle itself;

[0055] Calculate the predicted moving area of the target vehicle within the unit system clock The formula is:

[0056] ;

[0057] S4. Combining the real-time vehicle condition of the vehicle itself, according to the predicted moving area of the target vehicle within the unit system clock in step S3, adjust the angle compensation of the anti-glare area of the target vehicle by the vehicle itself. Considering the actual road conditions, the on-board radar recognizes that the distance of the target vehicle is in a changing state, and when there is an oncoming vehicle, the distance changes more frequently. Therefore, according to the distance interval of the target vehicle relative to the vehicle itself, there are three settings for the angle compensation value;

[0058] S5. When the target vehicle drives out of the lighting range of the vehicle itself, the lights corresponding to the ADB system of the vehicle itself will perform a gradual brightening operation; that is, when the target vehicle drives out of the lighting range of the vehicle itself, the lights corresponding to the ADB system of the vehicle itself remain in the off state for 1S, and then brighten by 5% every 50ms until the brightness returns to 100%; during the gradual brightening process, continuously detect whether there are other target vehicles in this area. If there are other target vehicles, immediately turn off the lights in this area. If there are no other target vehicles, continue to brighten.

[0059] Embodiment 2

[0060] The difference between this embodiment and Embodiment 1 is: Specifically, in step S1, the ID coding rule of the target vehicle is: the coding range is from 0 to 255, the ID is superimposed with the number of target vehicles but not cleared. When the target vehicle drives out of the lighting range of the vehicle itself, the ID of the target vehicle becomes invalid, but the count is not cleared. The ID of the next target vehicle is superimposed on this basis. After exceeding 255, the ID of the next target vehicle starts counting from 0.

[0061] By adopting the above technical solutions, the present invention can more effectively manage multiple targets by assigning ID numbers to target vehicles, achieve precise control of the targets, and avoid misjudgment caused by accidental glare due to the cross - driving or out - of - sight of target vehicles resulting in target confusion; the ID numbers of the present invention can be used to record the attributes of each target for data processing, associate the target vehicle types, sizes, and priority levels through the ID, and can more efficiently update the status of each target when predicting the targets; the present invention can achieve optimization of the control strategy, that is, different priorities are assigned according to the ID of the target. When multiple targets overlap in the field of view, the ID can distinguish the primary and secondary contradictions of the targets and give priority to dealing with the vehicles approaching quickly.

[0062] Embodiment 3

[0063] Specifically, in step S3, by analyzing the influence of the distance between the target vehicle and the host vehicle on the angle of the lights to be extinguished by the ADB system of the host vehicle, it is found that:

[0064] (1) For the case where the target vehicle and the host vehicle are moving in opposite directions, as Figure 3 shown, when the distance between the target vehicle and the host vehicle is relatively close, the angle of the lights extinguished by the ADB system corresponding to the predicted moving area of the target vehicle within a unit system clock is ; when the distance between the target vehicle and the host vehicle is relatively far, the angle of the lights extinguished by the ADB system corresponding to the predicted moving area of the target vehicle within a unit system clock is .

[0065] By comparison, during the process of the two vehicles moving in opposite directions, the closer the distance between the target vehicle and the host vehicle, the larger the corresponding angle of the lights to be extinguished.

[0066] (2) For the case where the target vehicle and the host vehicle are moving in the same direction as Figure 4 shown, when the distance between the target vehicle and the host vehicle is relatively close, the angle of the lights extinguished by the ADB system corresponding to the predicted moving area of the target vehicle within a unit system clock is ; when the distance between the target vehicle and the host vehicle is relatively far, the angle of the lights extinguished by the ADB system corresponding to the predicted moving area of the target vehicle within a unit system clock is .

[0067] By comparison, during the process of the two vehicles moving in the same direction, the closer the distance between the target vehicle and the host vehicle, the larger the corresponding angle of the lights to be extinguished.

[0068] Therefore, by comparing the angular relationships of the lights of the host vehicle that are turned off during the same-direction driving and oncoming driving of the target vehicle, it can be known that under the unit system clock moving area of the same target vehicle, the distance between the host vehicle and the target vehicle affects the angle of the lights that need to be turned off by the ADB system of the host vehicle. That is, the angle of the lights that need to be turned off by the ADB system of the host vehicle corresponding to the unit system clock moving area of the target vehicle in the distance is smaller than that corresponding to the unit system clock moving area of the target vehicle nearby. Based on this conclusion, when using the ADB function, the driving direction of the target vehicle does not need to be distinguished, and only the angle of the extinguished partition needs to be compensated.

[0069] Embodiment 4

[0070] Specifically, in step S4, the three angle compensation values set according to the distance interval between the target vehicle and the host vehicle are as follows:

[0071] (1) When the on-vehicle radar of the host vehicle identifies that the distance of the target vehicle is more than 500 meters, the angle compensation of the LED partition of the ADB system of the host vehicle is set to 0.04°;

[0072] (2) When the on-vehicle radar of the host vehicle identifies that the distance of the target vehicle is within 500 meters and more than 200 meters, the angle compensation of the LED partition of the ADB system of the host vehicle is set to 0.09°;

[0073] (3) When the on-vehicle radar of the host vehicle identifies that the distance of the target vehicle is within 200 meters, the angle compensation of the LED partition of the ADB system of the host vehicle is set to 0.37°.

[0074] In summary, by assigning ID numbers to target vehicles, the present invention can more effectively manage multiple targets, achieve precise control of the targets, and avoid misjudgment caused by accidental glare resulting from the cross - driving or out - of - sight movement of target vehicles leading to target confusion. The ID numbers of the present invention can be used to record the attributes of each target for data processing. By associating the ID with the target vehicle type, size, and priority level, etc., the status of each target can be updated more efficiently during target prediction. The present invention can optimize the control strategy, that is, different priorities are assigned according to the ID of the target. When multiple targets overlap in the field of view, the ID can distinguish the primary and secondary contradictions of the targets and give priority to processing the vehicles approaching rapidly. By obtaining the difference between the predicted position of the target vehicle at the current moment and the actual position of the target vehicle at the current moment, the present invention provides a correction parameter for calculating the predicted position of the target vehicle at the next clock, improving the accuracy of target vehicle position prediction. The present invention predicts the area where the target vehicle moves from the current moment to the next moment relative to the host vehicle, and performs angle compensation on the light zones that need to be extinguished by the host vehicle's ADB system in the moving area. Moreover, the angle compensation of the ADB system zones is configurable, that is, the angle compensation value can be adjusted according to the zones of the ADB system of different vehicle models, which has flexibility. By dividing three distance intervals between the target vehicle and the host vehicle, the present invention performs angle compensation on the LED zones of the ADB system, avoiding the influence caused by the real - time change of the distance. While reducing the complexity of the ADB system, it better realizes the anti - glare function. When the target vehicle drives out of the range of the host vehicle's lights, the lights corresponding to the extinguished lights of the host vehicle's ADB system will perform a gradual brightening operation, which can maintain the stability of the ADB system and prevent the sudden restoration of the lights from causing accidental glare to subsequent target vehicles.

[0075] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling an ADB system for target prediction and compensation based on relative displacement, characterized in that: The following steps are involved: S1. Obtain the data of the target vehicle, including the target vehicle ID and the relative displacement between the target vehicle and the host vehicle in the unit system clock; S2, predicting the relative position at the next unit system clock based on the relative displacement between the target vehicle and the host vehicle in the unit system clock in step S1; S3, calculating the predicted moving area of ​​the target vehicle within the unit system clock according to the predicted position of the target vehicle at the next unit system clock in step S2; S4, combining the real-time vehicle condition of the vehicle and the predicted moving area of ​​the target vehicle within the unit system clock in step S3, adjusting the angle compensation of the vehicle to the anti-glare area of ​​the target vehicle; S5. When the target vehicle drives out of the vehicle's light range, the ADB system of the vehicle will gradually brighten the corresponding extinguished lights; In step S2, the method for predicting the relative position at the next unit system clock comprises the following steps: S21, calculating the change speed of the relative distance between the target vehicle and the host vehicle based on the relative displacement between the target vehicle and the host vehicle within the unit system clock; S22, calculating the predicted position of the target vehicle at the next clock according to the change speed of the relative distance of the target vehicle to the vehicle at the current clock and the difference between the predicted position of the target vehicle at the current clock and the actual position of the target vehicle at the current clock; In step S21, the position information of the target vehicle is updated once every t, and the time interval at the nth moment is represented as t n , n∈N + , where N + represents a positive integer; Calculate t n The speed at which the relative distance between the target vehicle and the vehicle changes at any given moment The formula is: in, Indicates t n The actual distance of the target vehicle relative to the vehicle at the moment, Indicates t n-1 At time , the actual distance of the target vehicle relative to the host vehicle; In step S22, the next unit system clock t is calculated. n+1 The predicted position of the target vehicle The formula is: in, t n Predicted position of target vehicle at each moment Pre and t n Actual position of the target vehicle at any moment difference, In step S3, the predicted moving area of ​​the target vehicle within the unit system clock is calculated. The formula is:

2. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S1, the target vehicle ID is used to distinguish different target vehicles and uniquely identify each target vehicle.

3. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S1, the target vehicle ID coding rule is: the coding range is from 0 to 255, the ID is superimposed with the number of target vehicles but not cleared, when the target vehicle drives out of the light range of this vehicle, the target vehicle ID becomes invalid, but the count is not cleared, and the next target vehicle ID is superimposed on this basis, and after exceeding 255, the next target vehicle starts counting from 0.

4. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In the step S3, the predicted moving area of ​​the target vehicle within the unit system clock is: the predicted moving area of ​​the target vehicle relative to the host vehicle from the current clock to the next clock.

5. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S4, three angle compensation values ​​are set according to the distance interval of the target vehicle relative to the host vehicle.

6. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S5, when the target vehicle drives out of the lighting range of this vehicle, the corresponding lights of the ADB system of this vehicle remain off for 1 second, and then brighten by 5% every 50ms until the brightness is restored to 100%; during the gradual brightening process, it is continuously detected whether there are other target vehicles in this area. If there are other target vehicles, the lights in this area are immediately turned off. If there are no other target vehicles, the lights continue to be gradually brightened.

Images